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#include "PxsSimulationController.h"

#ifndef SC_SIMULATION_CONTROLLER_H
#define	SC_SIMULATION_CONTROLLER_H


namespace physx
{

class PxsHeapMemoryAllocator;

namespace Dy
{
	class FeatherstoneArticulation;
	struct ArticulationJointCore;
}

namespace Sc
{

	class SimulationController : public PxsSimulationController
	{
		PX_NOCOPY(SimulationController)
	public:
		SimulationController(PxsSimulationControllerCallback* callback): PxsSimulationController(callback)
		{
		}
	
		virtual ~SimulationController(){}
		virtual void addJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/, IG::IslandSim& /*islandSim*/, Ps::Array<PxU32>& /*jointIndices*/,
		Ps::Array<PxgSolverConstraintManagerConstants, Ps::VirtualAllocator>& /*managerIter*/, PxU32 /*uniqueId*/){}
		virtual void removeJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/, Ps::Array<PxU32>& /*jointIndices*/, IG::IslandSim& /*islandSim*/){}
		virtual void addShape(PxsShapeSim* /*shapeSim*/, const PxU32 /*index*/){}
		virtual void removeShape(const PxU32 /*index*/){}
		virtual void addDynamic(PxsRigidBody* /*rigidBody*/, const IG::NodeIndex& /*nodeIndex*/){}
		virtual void addDynamics(PxsRigidBody** /*rigidBody*/, const PxU32* /*nodeIndex*/, PxU32 /*nbBodies*/) {}
		virtual void addArticulation(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/){}
		virtual void releaseArticulation(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/) {}
		virtual void releaseDeferredArticulationIds(){}
		virtual void updateDynamic(const bool /*isArticulationLink*/, const IG::NodeIndex& /*nodeIndex*/) {}
		virtual void updateJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/){}
		virtual void updateBodies(PxsRigidBody** /*rigidBodies*/,  PxU32* /*nodeIndices*/, const PxU32 /*nbBodies*/) {}
		virtual void updateBody(PxsRigidBody* /*rigidBody*/, const PxU32 /*nodeIndex*/) {}
		virtual void updateBodiesAndShapes(PxBaseTask* /*continuation*/){}
		virtual void update(const PxU32 /*bitMapWordCounts*/){}
		virtual void gpuDmabackData(PxsTransformCache& /*cache*/, Bp::BoundsArray& /*boundArray*/, Cm::BitMapPinned&  /*changedAABBMgrHandles*/){}
		virtual void udpateScBodyAndShapeSim(PxsTransformCache& cache, Bp::BoundsArray& boundArray, PxBaseTask* continuation);
		virtual void updateArticulation(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/) {}
		virtual void updateArticulationJoint(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/) {}
		virtual PxU32* getActiveBodies() { return NULL; }
		virtual PxU32* getDeactiveBodies() { return NULL; }
		virtual void** getRigidBodies() { return NULL; }
		virtual PxU32	getNbBodies() { return 0; }
		virtual PxU32	getNbFrozenShapes() { return 0; }
		virtual PxU32	getNbUnfrozenShapes() { return 0; }

		virtual PxU32*	getUnfrozenShapes() { return NULL; }
		virtual PxU32*	getFrozenShapes() { return NULL; }
		virtual PxsShapeSim** getShapeSims() { return NULL; }
		virtual PxU32	getNbShapes()	{ return 0; }

		virtual void	clear() { }
		virtual void	setBounds(Bp::BoundsArray* /*boundArray*/){}
		virtual void	reserve(const PxU32 /*nbBodies*/) {}

		virtual PxU32   getArticulationRemapIndex(const PxU32 /*nodeIndex*/) { return PX_INVALID_U32;}
		
	};
}

}

#endif